ArticleBMC oral health2026
A study on the correlation between robotic arm force feedback and drilling approach angle/depth in dental implantation: an in vitro investigation.
Article in BMC oral health, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
purposeThis study aimed to investigate the effect of different drilling approach angles varying with depth on lateral forces during surgery in a force feedback-based robotic dental implant system, and to provide quantitative data support and a theoretical basis for the future development of lateral force compensation strategies. MATERIALS AND
methodsTen fresh porcine mandible specimens were used to prepare 140 drilling sites on the buccal bone plates of bilateral posterior regions. All procedures were performed under standardized conditions: bone density 785.79 ± 15 HU, drill diameter 2 mm, rotational speed 1500 rpm, axial feed rate 60 mm/min, axial load 15 ± 1 N, and target depth 12 mm. Drilling was performed using the Yake-001 implant robotic system (DRS-FT250), which integrates optical tracking and a six-axis force sensor to monitor lateral forces within the bone in real time. Drilling was conducted at seven approach angles within the range of 0°, 10°, 20°, 30°, 40°, 50°, and 60°, and the peak lateral forces at depths of 6, 8, 10, and 12 mm were recorded.
resultsLinear mixed-effects model analysis revealed that drilling angle, depth, and their interaction were significant determinants of lateral force (main effects of angle and depth, (p < 0.05); interaction, (p < 0.05). The model demonstrated excellent goodness-of-fit, with marginal (R2= 0.967) and conditional (R2= 0.982), indicating that fixed effects accounted for 96.7% of the variance, while inter-individual differences explained 30.5% (ICC = 0.305). Compared to the reference conditions (0°, 6 mm), larger angles and depths progressively increased lateral force, with the most pronounced effects observed at 60° (β = 2.14) and 12 mm (β = 2.29). A significant interaction was observed at 12 mm depth, where effect estimates for 40°, 50°, and 60° reached 4.39, 10.65, and 13.08, demonstrating that the effect of drilling angle on lateral force became substantially stronger as drilling depth increased.
conclusionLateral force feedback increases with larger drilling approach angles, and at the same angle, lateral force feedback is positively correlated with drilling depth. Moreover, the effect of increasing the angle on lateral force becomes more pronounced as drilling depth increases. These findings provide a crucial theoretical and quantitative basis for the future development of real-time lateral force feedback compensation strategies in robotic surgical systems, offering the potential for real-time monitoring and dynamic compensation of lateral forces during drilling, thereby serving as a reference for the future enhancement of controllability and operational safety in robot-assisted implant surgery.
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